The Compliant Control Architecture (CCA) is a component architecture developed to enable machine learning and rich motor skills on compliant robot platforms, as part of the AMARSi project.
CCA provides a component model with an extended lifecycle to manage different machine learning modes (online learning, offline learning). Communication between components is done via data-flow. To easily manage static and dynamic connections between components, CCA provides Ports and Port Configuration and Connectivity Skeletons to manage the connectivity, as well as Processing Strategies to manage the control flow.
See: